Mechanically assisted phased array for extended scan limits

ABSTRACT

A radar apparatus with a transmission antenna array that outputs a high aspect ratio frequency modulation continuous wave (FMCW) transmission beam that illuminates a large field of regard in elevation and may be both electronically and mechanically scanned in azimuth. The weather radar apparatus includes a receive array and receive electronics that may receive the reflected return radar signals and digitally form a plurality of receive beams that may be used to determine characteristics of the area in the field of regard. The receive beams may be used to determine reflectivity of weather systems and provide a coherent weather picture. The weather radar apparatus may simultaneously process the receive signals into monopulse beams that may be used for accurate navigation as well as collision avoidance.

This application is a continuation of U.S. patent application Ser. No. 15/691,453, which was filed on Aug. 30, 2017, and is entitled, “MECHANICALLY ASSISTED PHASED ARRAY FOR EXTENDED SCAN LIMITS.” The entire content of U.S. patent application Ser. No. 15/691,453 is incorporated herein by reference.

TECHNICAL FIELD

The disclosure relates to phased array radar systems.

BACKGROUND

Radar systems may be used by aircraft, ground installations or other vehicles to detect weather, aircraft or other objects in the surrounding space. In smaller aircraft, such as some unmanned aerial vehicles (UAVs), weight and power requirements may constrain the design of the radar system or preclude the use of a radar system altogether. Some weather radars use mechanically or electronically scanned radar transmission pencil beams in a systematic process of progressively covering an area, such as by raster scan.

SUMMARY

In general, this disclosure is directed to a radar apparatus with a transmission antenna array that outputs a high aspect ratio frequency modulation continuous wave (FMCW) transmission beam that illuminates a large field of regard in elevation and may be electronically and mechanically scanned in azimuth. The weather radar apparatus includes a receive array and receive electronics that may receive the reflected return radar signals and electronically form a plurality of receive beams that may be used to determine characteristics of the area in the field of regard. The receive beams may be used to determine reflectivity of weather systems and provide a coherent weather picture. The weather radar apparatus may simultaneously process the receive signals into monopulse beams that may be used for accurate navigation as well as detection and tracking of objects, such as birds, aircraft, unmanned aerial vehicles and the like.

The weather radar apparatus may be mounted on a vehicle, such as an aircraft, unmanned aerial vehicles (UAV) and other similar vehicles. The weather radar apparatus may include one or more FMCW radar devices that each include a transmission array, transmission electronics, a receive array, receive electronics and signal processing circuitry supported by a gimbaled mount. The gimbaled mount mechanically scans the one or more radar devices to extend the electronic scan angle.

In one example, the disclosure is directed to . . . this section to be filled in by attorney after initial inventor review.

The details of one or more examples of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the disclosure will be apparent from the description and drawings, and from the claims.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram illustrating an isometric view of an FMCW radar apparatus according to one or more techniques of this disclosure.

FIG. 2 is a diagram illustrating a top view of an FMCW radar apparatus according to one or more techniques of this disclosure.

FIG. 3 is a top view depiction of an aircraft, which includes a radar apparatus that outputs an FMCW transmit beam that illuminates an area in a first illumination direction and scans the FMCW transmit beam in a second illumination direction.

FIG. 4 is a diagram illustrating the electronically scanned angular range and the mechanically scanned angular range of a radar apparatus in accordance with one or more techniques of this disclosure.

FIG. 5 is a block diagram illustrating a multi-function, electronically and mechanically steered weather radar installed in an aircraft, in accordance with one or more techniques of this disclosure.

FIG. 6 is a diagram illustrating an example transmit beam and a plurality of example receive beams.

FIGS. 7A and 7B depict a top view and isometric view respectively of an example radar apparatus of this disclosure with two radar devices supported by a gimbaled mount.

FIG. 8 is a diagram illustrating the electronically scanned angular range and the mechanically scanned angular range of a radar apparatus with two radar devices in accordance with one or more techniques of this disclosure.

FIG. 9 is an isometric diagram illustrating an example FMCW radar device.

FIG. 10 is a diagram illustrating an example FMCW radar antenna array, which may be a component of FMCW radar device, as depicted in FIG. 9.

FIG. 11 is a block diagram illustrating an example radar device, including associated electronics.

FIG. 12 is a block diagram illustrating an example receive antenna element and an example of analog receive electronics.

FIG. 13 illustrates another example block diagram of a portion of the analog receive electronics for a row of a receive array in accordance with one or more techniques of this disclosure.

FIG. 14 is a functional block diagram illustrating example functions of A/D converters and portions of a digital receive electronics for a quadrant of a receive array as depicted in FIGS. 9 and 10.

FIG. 15 is a functional block diagram illustrating example functions for producing a plurality of receive beams from signals received from a respective receive electronics for each quadrant of a receive array.

FIG. 16 is a flow diagram illustrating an example operation of a multi-function electronically and mechanically steered weather radar in accordance with one or more techniques of this disclosure.

DETAILED DESCRIPTION

The disclosure is directed to a radar apparatus with a transmission antenna array that outputs a high aspect ratio (e.g., a high elevation to azimuth ratio) frequency modulation continuous wave (FMCW) transmission beam that illuminates an area in the field of regard in elevation and may be mechanically assisted electronic scanning in azimuth. The radar apparatus includes a receive array and receive electronics that may receive the reflected return radar signals and electronically form a plurality of receive beams that may be used to determine characteristics of the area in the field of regard. The receive beams may be used to determine reflectivity of weather systems and provide a coherent weather picture. The radar apparatus may also, either simultaneously while processing the weather data or as part of a mode distinct from a weather radar mode, process the received signals into monopulse beams that may be used for accurate navigation as well as detection and tracking of objects, such as birds, aircraft, unmanned aerial vehicles (UAV) and the like.

The radar apparatus may be mounted on a vehicle, such as an aircraft, UAV or similar vehicle. In some examples, the radar apparatus may be used as a weather radar to detect and evaluate precipitation, potential icing and other weather conditions. The radar apparatus may include one or more FMCW radar devices that each include a transmission array, transmission electronics, a receive array, receive electronics and signal processing circuitry. The FMCW radar device may be referred to as a digital active phased array (DAPA) radar. The high aspect ratio transmission beam and signal processing of the DAPA radar may provide a variety of operating modes, depending on the phase of flight of an aircraft, or other phase of operation of some other type of vehicle. In other examples, the radar apparatus may be mounted to a fixed location, such as on a building, a sports stadium, near a harbor and similar locations. In some examples, the one or more FMCW devices of the radar apparatus may be mounted on a mast in a permanent or semi-permanent installation. Examples of semi-permanent installations may be an installation used by law enforcement, border security, ground troops, outdoor festival organizers, and other similar groups. The radar apparatus may be used for harbor surveillance to track aerial, afloat and ground vehicles, regional airport surveillance such as tracking aircraft on the ground or in the air and as a ground based weather radar, detecting UAV or other targets near sensitive buildings or sporting events and similar applications.

One of the problems for a phased array or electronically scanned radar is achieving is very high scan angles, such as on the order of +/−80 degrees. At these scan angles, the antenna gain and beam shape are seriously degraded due to basic laws of physics. To solve this problem, many phased array applications will require the use of two or more phased arrays that are mounted at an angle to each other such that none of the two or more arrays must scan more than +/−45 degrees. However, multiple arrays increase cost, consume more power, and increase weight and volume of the installation. Furthermore, when two units are used, the ability to look straight ahead is actually compromised because both units must scan to 45 degrees to look straight ahead due to the face of both radar units pointing to either side. The straight ahead region, such as in the example of an aircraft, may be an area of very high interest to the aircraft crew, and neither radar system can view the straight ahead region with a low scan angle transmit beam. The combined units must then determine which of the two units will deliver the target detections in the straight ahead region. Such a system of two units, mounted at fixed angles may combine the outputs of the two phased arrays in a complex manner in order to address this issue of the straight ahead region. Thus, in such a system, the system provides the lowest performance at what is for many applications the most important orientation, i.e., straight ahead. In contrast, the mechanically assisted electronically scanned radar apparatus of this disclosure may use a single FMCW radar device unit to view the straight ahead region at a low scan angle. The single radar device may require less power and volume to operate and weigh less than multiple, fixed phased array units, yet can cover a large field of regard because of the mechanical assist feature.

Unlike a conventional electronically scanned array (ESA) radar with a single scanned transmit and receive beam, the nature of the multiple simultaneous receive beams of this disclosure allow multiple functions to be accomplished effectively simultaneously, i.e. at substantially the same time. For example, radar imagery of the ground, weather, predictive wind shear, UAV detection and bird detection, as examples, may be accomplished in one or more receive beams, in combination or separately. This is substantially different from existing or proposed state of the art ESA radars where a single antenna beam is electronically scanned in a raster or other pattern in an attempt to accomplish more than one task.

The mechanically assisted electronic scan features of the radar of this disclosure may also have advantages when compared to radar systems that mechanically aim a pencil beam type radar transmit beam in multiple directions. The pencil beam type radar systems may require multiple motors to rapidly slew the pencil beam to cover the entire radar FOR. In contrast, the radar apparatus of this disclosure may be configured to use less a complex motor arrangement, which may reduce cost and improve reliability. Additionally, as with the electronically scanned pencil beam, a mechanically scanned pencil beam may use a complex raster pattern to cover the entire field of regard. A mechanically scanned antenna may require the radar antenna to remain still until the transmitted waveform is completely received distant targets. This may result in an update rate on the order of two to three Hz. In contrast, the mechanically assisted electronically scanned high aspect ratio transmit beam may conduct a full azimuth sweep of the entire field of regard in approximately five to six seconds.

In the example of an aircraft, the weather radar may be used in a standard weather radar mode to detect weather systems in the path of the aircraft. When operating in mountainous regions, the lower receive beams of the radar may be used for navigation, such as for terrain avoidance. On approach to an airport, or on take-off, various receive beams may be used for weather observation, while other receive beams are simultaneously used to detect hazards on the ground or in the air near the aircraft. Similarly, the beams may be used to simultaneously locate runway approach lights, runway threshold regions, runway surface lights, or other structure that may be used to validate navigation to the desired airport or runway. This may, for example, include validating that the aircraft is approaching the desired runway rather than a nearby taxiway or adjacent parallel runway. Additionally, the monopulse function of the receive beams may be used to measure elevation angle above the runway such that when combined with range information the radar may compute approach glide slope angle. Other navigation features and functions may also be possible. Further, the receive beams may be used singularly or in combination to provide radar images of the runway that includes dimensions of range, azimuth angle and elevation angle or height above the runway surface. Radar imagery may be provided by the monopulse features of the receive beam(s).

The gimbaled mount of an FMCW radar apparatus of this disclosure mechanically assists the electronically scanned angular range of one or more radar device(s) and in this manner may reduce the number of radar devices needed to cover a given field of regard. In some examples, a radar device may include a transmit antenna, receive antenna, transmit and receive electronics, signal processing and other circuitry on one or more circuit boards and contained within a housing as a single, integrated device. Fewer radar devices may result in lower power consumption and lower weight than a radar apparatus that uses multiple, fixed, electronically scanned radar devices to cover the given field of regard.

FIG. 1 is a diagram illustrating an isometric view of an FMCW radar apparatus according to one or more techniques of this disclosure. Radar apparatus 10 includes radar device 11 supported by gimbaled mount 15. Though radar apparatus 10 may be used in a variety of applications, this disclosure will focus on the application as a weather radar in an aircraft, to simplify and clarify the description.

Radar device 11 of radar apparatus 10 outputs an FMCW transmit beam and electronically scans the FMCW transmit beam in azimuth, e.g. the horizontal direction with respect to the ground. Radar device 11 may receive a plurality of receive signals reflected from objects or weather within the field of regard (FOR) of radar device 11. Radar device 11 may digitally generate, using the plurality of receive signals, a plurality of receive beams within the area illuminated by the FMCW transmit beam.

Gimbaled mount 15 may mechanically move radar device 11 in azimuth, which extends the angular range of coverage for the electronic scan of radar device 11. In some examples, gimbaled mount 15 may receive a position signal and rotate and aim radar device 11 in response to the position signal. In other words, gimbaled mount 15 is configured to mechanically move radar device 11 to various positions in the second illumination direction. In this manner, radar apparatus 10 may cover a larger FOR than a single radar device could cover by electronic scanning alone.

FIG. 2 is a diagram illustrating a top view of an FMCW radar apparatus according to one or more techniques of this disclosure. FIG. 2 depicts radar apparatus 10, which includes radar device 11 supported by gimbaled mount 15, which perform the same functions as described above. FIG. 2 further depicts mounting portion 16 and rotatable housing 19 of gimbaled mount 15.

Mounting portion 16 is one example of a mounting portion of a gimbaled mount 15 that may attach radar apparatus 10 to, for example, within the nose radome of an aircraft or a UAV. Mounting portion 16 may be configured to support radar apparatus 10 during operations where radar apparatus 10 may encounter vibration, acceleration forces, turning forces and similar stresses.

Rotatable housing 19 may rotate in relation to mounting portion 16, for example, in response to a position signal that causes gimbaled mount 15 to mechanically rotate radar device 11 to one or more angular positions. Rotatable housing 19 may include one or more motors (not shown in FIG. 2) that are configured to rotate radar device 11. The one or more motors may be controlled by electronic circuitry within radar device 11. In other examples, the one or more motors may receive control signals from other circuitry, such as circuitry within a radar display and control unit (not shown in FIG. 2). A radar display and control unit may be mounted in a vehicle, such as the cockpit of an aircraft, and display objects and weather detected by radar apparatus 10.

Rotatable housing 19 may also include a coiled cable, the coiled cable comprising a plurality of conductors (not shown in FIG. 2). In some examples, the coiled cable may be configured to electrically connect the radar device to the mounting portion and further to the radar display and control unit. The coiled cable may carry electrical power and signals to and from radar device 11. For example, the coiled cable may carry control signals from the radar display and control unit to change the electronic scan pattern of the FMCW transmit beam. The coiled cables may carry signals to the one or more motors to cause gimbaled mount 15 to rotate radar device 11 in the second illumination direction.

The coiled cable may, in some examples, be referred to as a clock spring cable, because the coiled cable may have a shape similar to a clock spring. Other examples may include a multi-pass box spring cable and a single pass flat ribbon cable. In some examples, rotatable housing 19 may include multiple, redundant coiled cables to improve reliability. Rotatable housing 19, the motors described above, or other components of radar apparatus 10 may provide position feedback to determine the angular position of radar device 11.

In operation, radar device 11 may be configured to electronically scan the FMCW transmit beam in the second illumination direction when gimbaled mount 15 is mechanically stationary at a predetermined position of a plurality of predetermined positions. In other examples, radar apparatus 10 may be configured to simultaneously mechanically scan/rotate radar device 11 with gimbaled mount 15 while radar device 11 electronically scans the radar transmit beam. Electronically scanning the transmit beam while stationary at a predetermined position may have advantages in simplifying the operation of radar apparatus 10. For example, signal processing circuitry within radar device 11 may less complex if configured to interpret to angular position of a target from a fixed mechanical position of radar device 11. The signal processing circuitry may also be configured to determine a more precise target location from a fixed mechanical position, when compared to considering both a moving electronic transmit beam and a moving radar device 11.

Radar apparatus 10 of this disclosure may have advantages over other configurations of radar systems that perform similar functions. In addition to the advantages described above, a gimbaled mount that rotates only in the second illumination direction simplifies operation when compared to radar systems that mechanically aim a pencil beam type radar transmit beam in multiple directions. The pencil beam type radar systems may require multiple, high-torque motors to rapidly slew the pencil beam to cover the entire radar FOR, such as in a complex raster pattern. In contrast, radar apparatus 10 of this disclosure may be configured to use less complex, lower torque motors, such as a brushless DC motor, which may reduce cost of radar apparatus 10 compared to mechanically scanned pencil beam radar systems. The reduced demand on motors in radar apparatus 10 may also improve reliability and mean time between failures (MTBF) when compared to other types of radar systems. Additionally, a single radar device, fewer motors, and a less complex mechanical support system may have the advantage of reduced power consumption, reduced cost, reduce mass and less weight when compared to other existing radar systems.

Radar apparatus 10 if this disclosure differs from a phased array antenna system that may include a plurality of segments, such as may be installed longitudinally along the upper surface of the fuselage of an airplane. For example, radar apparatus 10 may include the transmit and receive electronics, including the circuitry for upconversion and downcoversion to and from RF frequencies, as described in more detail in relation to FIGS. 9-11 below. Radar apparatus 10 of this disclosure therefore has no need to feed RF energy along a feed and to introduce phase and time delays to coordinate each segment of the plurality of segments. The high aspect ratio transmit beam and plurality of receive beams also differs from other radar systems with movable support means that may rotate antenna segments between one or more positions. The radar apparatus of this disclosure may have advantages in numerous applications, both vehicle mounted or fixed, as described elsewhere in this disclosure, for evaluating weather, tracking targets and navigation, when compared to other radar systems. The radar apparatus may also have advantages in cost, reduced complexity, weight and volume when compared to other radar systems.

FIG. 3 is a top view depiction of aircraft 2, which includes a radar apparatus that outputs an FMCW transmit beam 42 that illuminates an area in a first illumination direction (e.g. in and out of the page) and scans the FMCW transmit beam 42 in a second illumination direction 46. Although FIG. 3 is shown with respect to a weather radar system in an aircraft, and specifically to an airplane, the radar apparatus may also be installed in a variety of other types of vehicles, including ground vehicles, unmanned aerial vehicles (UAV), helicopters, marine vehicles, and similar vehicles. As described above, the radar apparatus may also be installed in a fixed location such as on or near buildings, for border security and other permanent or semi-permanent locations.

Aircraft 2 includes radar apparatus 10, installed in the forward portion of aircraft 2. Radar apparatus 10 may be installed in the nose of aircraft 2 and protected by a radome as depicted in FIG. 3. In other examples, radar apparatus 10 may be installed in a wing pod, or other similar structure, on aircraft 2.

As described above, radar apparatus 10 includes radar device 11, which may include transmit and receive arrays. radar device 11 may include transmit electronics and a transmit array including a plurality of transmit antenna elements (not shown in FIG. 3). The transmit electronics with the transmit array may be configured to output FMCW transmit beam 42 and electronically scan FMCW transmit beam 42 in the second illumination direction 46, which is in azimuth in the example of FIG. 3. Gimbaled mount 15 (not shown in FIG. 3) may mechanically scan radar device 11 in the second illumination direction 46 to extend the angular range of the FOR of radar apparatus 10.

The FMCW radar device may analyze many areas within the field of regard of the radar. For example, the FMCW radar device may receive reflections from a first area illuminated within the beamwidth of FMCW transmit beam 42 at a first azimuth relative to the transmit array. The FMCW radar device may receive reflections from a second area illuminated by the FMCW transmit beam is at a second azimuth relative to the transmit array. The FMCW radar device may process the received signals to determine reflectivity or other characteristics of each area.

FIG. 4 is a diagram illustrating the electronically scanned angular range, with mechanical assistance, of a radar apparatus in accordance with one or more techniques of this disclosure. FIG. 4 depicts an aircraft 2A which includes radar apparatus 10. Aircraft 2A corresponds to the nose radome portion of aircraft 2 depicted in FIGS. 3 and 5.

In the example of FIG. 4, the electronic angular range 242 is the angle that the radar transmit electronics may scan transmit beam 42 (not shown in FIG. 4) in the second illumination direction. In some examples radar device 11 of radar apparatus 10 may electronically scan transmit beam 42 approximately forty-five degrees on either side of a centerline, relative to radar device 11. In some examples radar device 11 may electronically scan transmit beam 42 up to plus or minus sixty degrees. Note, for clarity and to separate the lines in FIG. 4, the angles are not drawn to scale.

Gimbaled mount 15 of radar apparatus 10 mechanically rotates radar device 11 through mechanical angular range 244 to extend the electronic angular range 242. In some examples, the mechanical angular range 244 may be approximately forty to forty-five degrees. The mechanical angular range 244 extends the electronic angular range 242 to a combined angular range of 246. In some examples, the combined angular range 246 may be approximately 180 degrees.

In one example of a full azimuth sweep, gimbaled mount 15 of radar apparatus 10 may rotate radar device 11 clockwise through the entire mechanical range 244 and execute an electronic scan. Gimbaled mount 15 may then mechanically rotate radar device 11 to aim straight ahead of aircraft 2A, which for many applications, may be the most important region of an aircraft's radar FOR. Radar device 11 may pause at this predetermined position and execute another electronic scan. Finally, gimbaled mount 15 may rotate radar device 11 counterclockwise through the entire mechanical range (e.g. to the left of aircraft 2A, not shown in FIG. 4). Radar device may execute a third electronic scan at this third predetermined position. In this manner, radar apparatus 10 may conduct a full azimuth sweep with a single, mechanically assisted electronic scanned radar device. A full azimuth sweep may take approximately five to six seconds, in some examples.

In other examples, radar apparatus 10 may conduct a full azimuth sweep by pausing at four or more predetermined positions. Also, radar apparatus 10 may pause to focus on one or more regions of the radar FOR, for example to take additional scans of a possible collision hazard, dwell on a weather system of interest or for other reasons as described in more detail in relation to FIG. 6 below. In some examples, during a dwell period, or during a sweep, radar apparatus 10 may adjust the modulation bandwidth or chirp time to optimize detection and analysis in various modes.

Radar apparatus 10 may have advantages when compared to ESA radar with a single scanned pencil transmit and receive beam that have no mechanical assist. A fixed position ESA radar may require two or three arrays to cover the same FOR as radar apparatus 10 with a single radar device 11. In the example of a fixed position ESA radar with two antenna array faces, the array faces may be aimed at approximately forty-five degrees outward relative to the aircraft centerline. This results in the airspace directly in front of the aircraft covered by a combination of each of the two array faces at a high scan angle. This may require complex processing to detect and analyze weather and targets directly in front of the aircraft. In contrast, the radar apparatus of this disclosure may cover a field of regard of 180 degrees in front of aircraft 2A with less complex signal processing than required with a multiple, fixed ESA radar system. Also, radar apparatus 10 scans the portion of FOR directly in front of the aircraft with a transmit beam at a low scan angle, which as described above avoids limitations of a transmit beam at high scanned angles.

FIG. 5 is a block diagram illustrating a multi-function, electronically and mechanically steered weather radar installed in an aircraft. FIG. 5 depicts aircraft 2, which includes radar apparatus 10 that outputs an FMCW transmit beam 42 that illuminates an area in a first illumination direction 45. In the example of FIG. 5 the first illumination direction 45 is in elevation and, in some examples, may be at least +/−30 degrees with respect to radar apparatus 10. Transmit beam 42 simultaneously illuminates the area in the first illumination direction in front of aircraft 2. As described above, radar apparatus 10 electronically and mechanically scans the FMCW transmit beam in azimuth. Radar apparatus 10 need not scan the high aspect ratio FMCW transmit beam in elevation, to illuminate the area in front of aircraft 2.

Illumination direction 45 of FIG. 5 generally runs into and out of the page with respect to FIG. 3. Illumination direction 46 of FIG. 3 generally runs into and out of the page with respect to FIG. 5. Comparing the beam width of the top view of FIG. 3 to the side view of FIG. 5 depicts FMCW transmit beam 42 with a high aspect ratio. In other words, FMCW transmit beam 42 illuminates an area with a greater extent in a first illumination direction (e.g., illumination direction 45 in FIGS. 5 and 6) than in a second illumination direction (e.g., illumination direction 46, in FIGS. 3 and 6) wherein the second illumination direction 46 is substantially perpendicular to the first illumination direction 45.

Radar apparatus 10 may receive a plurality of receive signals reflected from objects or weather in front of aircraft 2. Radar apparatus 10 may generate, using the plurality of receive signals, a plurality of receive beams 44C and 44E within the area illuminated by the FMCW transmit beam 42. In some examples, the digitally formed receive beams may be monopulse beams used to track objects within the FOR of radar apparatus 10. In other examples, the receive beams may be FMCW receive beams using, as one example, sum analysis to analyze weather, such as precipitation, within the field of regard of radar apparatus 10.

Radar device 11 of radar apparatus 10 may also include receive electronics and a receive array comprising a plurality of receive antenna elements, as described above. The receive array may receive a plurality of receive signals, reflected from objects illuminated by FMCW transmit beam 42. The receive electronics may generate the plurality of receive beams from the receive signals, such as receive beams 44C and 44E. Radar device 11 may include processing circuitry that determine one or more characteristics of a plurality of sub-areas of the area illuminated by FMCW transmit beam 42, wherein a sub-area of the plurality of sub-areas is within a receive beam of the plurality of receive beams. Because FMCW transmit beam 42 has a high aspect ratio, the processing circuitry may determine the one or more characteristics of a first sub-area of a plurality of sub-areas for the first area at the first azimuth at substantially the same time as a second sub-area of the plurality of sub-areas for the first area at the first azimuth. This is because FMCW transmit beam 42 simultaneously illuminates an area in the first illumination direction, which is elevation in the example of FIG. 5.

FMCW radar operation may provide advantages over pulsed or other types of radar systems because FMCW permits any desired range resolution and a minimum detection range that is equal to the range resolution of the radar. For example, during operation in the air, the radar may use with modest range resolution, with larger range bins. During ground operations FMCW radar allows very fine range resolution on the order of a meter or less such as while in taxi on the runway or taxi way areas of an airport.

This same set of multiple beams may be used for marine radar applications where a radar system according to the techniques of this disclosure may measure elevation angle unlike conventional marine radars, which do not measure elevation. Therefore, a marine radar that functions according to this disclosure with a wide field of regard in elevation may permit the detection of air vehicles such as a UAV with upper receive beams at the same time as the lower beams are mapping the water surface for targets, navigation aids, or shorelines. Currently small mechanically scanned marine radars use a very large elevation beamwidth of ˜22 degrees to accommodate pitch and roll of the marine vehicle but makes no elevation angle measurement. The set of multiple beams according to the techniques in this disclosure may permit a marine radar to provide multiple functions in a relatively small package suitable for armed forces, police or other civil defense functions to cover both air and surface surroundings. Motion of the vehicle may be electronically removed via electronic receive beam elevation scanning.

Similarly, ground-based vehicles, such as those used by military, law enforcement, and border control, may use a multiple receive beam FMCW radar as described in this disclosure to provide threat detection, such as a UAV or other threats, that may pose a potential threat. The multiple receive beams of an FMCW radar apparatus according to the techniques of this disclosure may rapidly search a very large volume in just one azimuth pass of the high aspect ratio transmit antenna pattern. Coverage of the very large search volume and tracking large numbers of targets are both difficult, if not impossible, for a single beam, raster scanned ESA radar. Therefore, an FMCW radar apparatus according to this disclosure may provide significant advantages over a single beam ESA radar.

FIG. 6 is a diagram illustrating an example transmit beam 42 and a plurality of example receive beams 44A-44L. Transmit beam 42 may, for example, be the same as FMCW transmit beams 42, 42A and 42B depicted in FIGS. 3-5 and 8. Transmit beam 42 is depicted as being approximately elliptical in shape, with a greater extent in elevation than in azimuth. FIG. 6 also depicts a representation of a predetermined area 48 which is to be illuminated by FMCW radar apparatus 10 (FIGS. 1-5). As shown in FIG. 2, transmit beam 42 may be at least as tall in elevation as the elevation of predetermined area 48, such that transmit beam 42 illuminates the entire elevation of a section of predetermined area 48 without steering or scanning transmit beam 42 in elevation. Predetermined area 48 corresponds to the FOR covered by electronic angular range 242 depicted in FIG. 4. In other examples, transmit beam 42 may be wide in azimuth and narrow in elevation. In general, transmit beam 42 may have a greater extent in a first illumination direction 45 than in a second illumination direction 46 substantially perpendicular to the first illumination direction 45. In other words, the transmit beam has a high aspect ratio, which in some examples is at least 10:1. In some examples, the beamwidth in the second illumination direction is approximately four to eight degrees while the beam width in the first illumination direction is approximately 60 degrees. In the example of FIG. 2, the first illumination direction is the vertical beamwidth and the second illumination direction is the horizontal beamwidth.

In the example of a weather radar mounted on an aircraft, as depicted in FIG. 5, where the aircraft is flying at a normal cruising altitude of approximately 30,000 feet (8000 to 10,000 meters), the transmit beam in the first illumination direction 45 may reflect from targets or weather on the ground and as high as the troposphere without scanning in elevation. In other words, at a given point in time, transmit beam 42 may simultaneously transmit radar energy from radar apparatus 10 to illuminate the entire vertical dimension of predetermined area 48 in the first illumination direction 45.

Illuminating the entire vertical dimension may provide several advantages over conventional radar that must raster scan a pencil beam in both elevation and azimuth to illuminate predetermined area 48. These advantages are in addition to the advantages in regard to the motors described above in relation to FIG. 2. Unlike conventional radar that must use a raster scan pencil beam, radar apparatus 10 may sweep transmit beam 42 in azimuth only and thus illuminate predetermined area 48 more quickly. As a result, a radar system according to the techniques of this disclosure may allow transmit beam 42 to be available to concentrate on storms vertically and to scan over a limited azimuth extent with full instantaneous vertical extent. Some advantages may include providing a coherent weather picture of certain weather systems, such as a thunderstorm that may extend for thousands of feet in altitude. For example, radar energy in transmit beam 42 transmitted at a given time may simultaneously illuminate a sub-region of predetermined area 48.

In the example of a thunderstorm, though the reflected return signals may arrive at the receive elements of radar apparatus 10 at different times, depending on the range of the features of the thunderstorm from radar apparatus 10 receive electronics within radar apparatus 10 may process the signals and assemble a coherent weather analysis without as many complex adjustments to compensate for movement of the aircraft as is required for a conventional pencil beam raster scan radar. For example, a jet aircraft may travel several hundred meters over the time period it takes a pencil beam to scan in elevation. A raster scan radar receiver processor must account for all the different positions the aircraft was in for each different transmission elevation angle. In contrast, a radar system in accordance with the techniques of this disclosure, may only need to account for a single aircraft position for a transmission that illuminates the entire vertical dimension of predetermined area 48 in the first illumination direction 45.

In addition to simplified processing, this single transmission time to illuminate the range of elevation may offer other advantages, such as faster update times. A radar system in accordance with the techniques of this disclosure may repeatedly illuminate predetermined area 48 in less time than it may take a raster scan radar with a pencil beam. This may be advantageous for rapidly changing conditions, fast moving targets or detecting items that are close to the aircraft. The transmission array, and associated transmit electronics, for the high aspect ratio transmit beam, may be less complex and consume less power than transmit electronics required for an ESA radar with a pencil beam. This may reduce power consumption and heat dissipation requirements for the radar device 11, as well as allow the FMCW radar device to be smaller and less expensive. Other advantages will be described in more detail below.

In more detail, the operation of radar apparatus 10 includes a plurality of digitally formed receive beams. Receive beams 44C and 44E depicted in FIG. 6 are similar to receive beams 44C and 44E depicted in FIG. 5. Although twelve receive beams 44 are illustrated in FIG. 6, in other examples, the receive electronics may be configured to generate more or fewer receive beams (collectively referred to as receive beams 44). For example, the receive electronics associated with the receive array may be configured to generate two receive beams 44.

In some examples, the receive electronics associated with the receive array is configured to scan, or steer, each of the plurality of receive beams 44 in the second illumination direction (e.g., azimuth) in parallel with transmit beam 42. For example, the receive electronics associated with the receive array may be configured to scan, or steer, each of the plurality of receive beams 44 in the second illumination direction (e.g., azimuth) such that the plurality of receive beams 44 are scanned at the same rate and to corresponding locations so that the plurality of receive beams 44 are substantially always (e.g., always or nearly always) located within the area illuminated by transmit beam 42.

The receive beams may be generated electronically, such as through digital beam forming (DBF) circuitry. A difference between scanning the transmit beam 42 and scanning the receive beams 44 is that the transmit beam 42 may physically change azimuth with respect to radar apparatus 10. Receive beams 44 are contained within the processing circuitry of radar device 11 and do not physically move with respect to radar apparatus 10.

As with a conventional weather radar system having a mechanically scanned transmit antenna, the radar energy in transmit beam 42 leaves radar apparatus 10 at different angles of azimuth at different times. The high aspect ratio transmit beam 42 illuminates the range of elevation for each azimuth angle. For the receive beams, the radar energy from transmit beam 42 reflects from objects in predetermined area 48. Objects may be ice crystals, precipitation, other aircraft, ground-based features, birds, and so on. The reflected energy arrives at a receive array (described in more detail below in relation to FIGS. 9 and 10). The received radar signals from each receive array are processed, e.g. phase shifted, summed and/or combined to electronically form beams within radar apparatus 10. This electronic beam forming occurs within the circuits, processors, and other components of radar apparatus 10.

In a normal weather search mode, radar apparatus 10 may execute a single azimuth pass of transmit beam 42 across the maximum and minimum of the azimuth range. As described above in relation to FIG. 4, radar apparatus 10 may execute the single azimuth pass with a combination of mechanical assist by gimbaled mount 15 and electronic scan of radar device 11, as described above in relation to FIG. 4. In some examples, a single azimuth pass may take approximately 5-6 seconds.

A buffer memory, which may include three-dimensional (3-D) information, may be filled in a single azimuth pass at a range of over 320 nautical miles (NM). In some examples, the electronic scan may take approximately three-seconds. Radar 10 may collect and store a full vertical information of all storm or other weather structures in this single azimuth scan. During flight, the processing circuitry within radar 10 on aircraft 2 may assemble a coherent mapping of reflectivity characteristics in the first illumination direction. For example, a main indicator in the detection of high altitude ice crystals (HAIC) and high ice water content (HIWC) may be based on an integrated vertical reflectivity of the storm.

A pencil beam radar may take 30 seconds or more to collect data for the entire region in front of the aircraft, because the pencil beam radar must scan in both elevation and azimuth. Assembling a raster scan of the data may require complex adjustments for radar beam transmission time and aircraft position, as described above. For example, a pencil beam radar may have to account for changes in range gates, angular changes, and other decorrelation issues caused by the movement of the vehicle during the scan.

An additional advantage of radar apparatus 10 includes forming a coherent weather picture with the high aspect ratio transmission beam during the sum analysis. The reflected return signals for a given azimuth arrive at the receive array as phase coherent and amplitude coherent signals. The phase coherency, for example, may allow vertically integrated reflectivity. Unlike a conventional raster scan radar, radar apparatus 10 may therefore avoid potential noise in the radar signal processing caused by the decorrelation of the returns from a scanned pencil beam. In some examples, radar apparatus 10 may also compute angular Doppler across the beams.

In an enhanced weather mode, radar apparatus 10 may use additional time to perform additional weather analysis. For example, in a 30 second update cycle, radar apparatus 10 may use the remaining seconds after the full azimuth scan to return to storm cell locations to dwell for several frequency modulation periods. Other enhanced weather functions may include additional scans of one or more storm cell regions, changes to the transmit beam modulation waveforms for Doppler or other measurements, and use of the receive beams to capture details of one or more storm cells from ground to maximum altitude. Radar apparatus 10 may use an extended dwell capability to repeat HAIC detections over a short period of seconds, or fraction of seconds to verify and validate the HAIC presence. The increased dwell may allow detection of HAIC that is of lower reflectivity. In some examples, during a dwell period, or during a sweep, radar apparatus 10 may adjust the modulation bandwidth or chirp time to optimize detection and analysis in various modes. The analysis may be done over discrete periods of time, which may be called epochs. For example, radar apparatus 10 may cause the transmit beam to dwell at an azimuth for a ten millisecond epoch, while changing the modulation scheme in two millisecond intervals to optimize certain functions or modes. Additional modes are discussed in more detail in Table 1.

In addition to the weather radar functions, the high aspect ratio transmit beam 42 may provide additional functions for vehicles in which radar apparatus 10 is installed. As described above, the high aspect ratio transmit beam, with a wide field of regard in elevation provides several advantages in analyzing weather, when compared to other mechanically or electronically steered pencil beam radars that must use a raster scan to illuminate an area of interest. In the example of an aircraft, radar apparatus 10 may use the plurality of receive beams 44 for analysis beyond weather analysis as well as execute different functions in different phases of flight. For example, lower receive beams may be used for terrain avoidance or terrain following applications while upper beams simultaneously provide airborne target detection or weather detection.

Another example of analysis beyond weather analysis may include using the enhanced dwell capability of radar apparatus 10 in conjunction with multiple receive beams arrayed over the high aspect ratio transmit beam (e.g., 60 degrees of elevation) to detect volcanic ash. Radar apparatus 10 may discriminate between cloud and ash reflections via Doppler analysis over an extended period of time, such as one or more seconds. The extended dwell time may provide added signal processing gain for increased sensitivity to search for heavier and more detectable ash below the aircraft. When in the vicinity of known active volcanos, radar apparatus 10 may provide a dedicated scan of the volcano top and air above the volcano to detect possible volcanic eruptions where the ash is the most dense and therefore more detectable. In some examples radar apparatus 10 may perform an optimization process on a waveform to improve range resolution and detection range based on distance to the volcano.

In some examples, radar apparatus 10 may combine radar signal information with a volcano location and height database as part of the terrain map capability. The signal processing in radar apparatus 10 may use multiple receive beams to establish ground level and multiple receive beamwidths to reduce azimuth sidelobe clutter from the ground returns.

In more detail, radar apparatus 10 may use additional scans and processing to reduce or eliminate clutter returns. For example, radar apparatus 10 may use stored data sets that include stored radar return signals to increase the beamwidth of the receive beams to create a “guard channel” to determine sidelobe clutter that may cause false PWS Doppler signatures and eliminate those sources. In one example, when operating to reduce or identify clutter returns, such as false returns from sidelobes, radar apparatus 10 may turn off or ignore returns received from some elements of the receive array to effectively increase the receive beam width. Radar apparatus 10 may process returns from the wider beam width to determine whether some received return signals were in the sidelobes, and therefore could be considered clutter, or if the returns were in the main beam. In some examples, radar apparatus 10 may also adjust the gain and frequency of the transmit beam during processing or scans to reduce clutter.

In the example of aircraft 2 approaching for landing, radar apparatus 10 may the plurality of receive beams 44 for other functions. For example, receive beams 44I-44L may function as monopulse receive beams to track objects on or near the ground. For example, receive beams 44I-44L may provide the pilot with a radar picture of the airport that aircraft 2 is approaching. A smooth runway surface typically reflects little radar energy back to radar apparatus 10 and may appear as a black area on the radar. The areas between runways may be composed of turf, gravel or other material and reflect more energy back to radar apparatus 10 which may appear different than a smooth runway. The landing system lighting, runway and taxiway lighting and other features of an airport may also reflect radar energy. The receive array of radar apparatus 10, such as receive array 20, may receive the plurality of return signals and generate monopulse receive beams for receive beams 44I-44L. Monopulse receive beams may provide accurate angle and distance measurements as well as tracking of objects within the sub-areas illuminated by a receive beam. Collision avoidance characteristics of a sub-area may include range, bearing, tracking and size characteristics of an object in the sub-area.

By tracking and depicting the features of the approaching airport, radar apparatus 10 may assist the pilot in determining that aircraft 2 is approaching the correct runway because the expected features of the airport should match the radar picture. This redundancy in navigation may be valuable such as with inadequate GPS coverage, or in cases of GPS and wide area augmentation system (WAAS) malfunction or jamming. In other words, radar apparatus 10 may detect runway approach lights and runway edges for runway alignment and glideslope verification. Signal processing within radar apparatus 10 may implement monopulse azimuth and elevation in one receive beam to provide high angular resolution of runway edge lights and runway approach lights.

Additionally, radar apparatus 10 may assist the pilot in determining if there are hazards on the runway such as ground vehicles, barriers, debris, animals or other hazards. For example, on final approach to a runway, radar apparatus 10 may use one or more receive beams 44 to search the runway for intrusions by vehicles or other aircraft with a dedicated scan for this purpose. Radar apparatus 10 may use a transmit beam waveform that may optimize range resolution and maximum detection range and monopulse mode for accurate angular resolution. For example, in some modes, radar apparatus 10 may output radar signals with a 100 MHz chirp over one millisecond and in other modes radar apparatus 10 may output radar signals with a 100 MHz chirp over five milliseconds.

Simultaneously with receive beams 44I-44L providing a navigation and ground hazards, receive beams 44A-44C may continue to provide weather information during the approach of aircraft 2 to the airport above and beyond the runway. In some examples, radar apparatus 10 may determine weather characteristics and PWS events using, for example, sum analysis of the respective receive beam. Receive electronics associated with receive array 20 may generate receive beams 44A-44C as FMCW receive beams to determine the one or more characteristics of a sub-areas within the receive beams. Characteristics such as reflectivity may help determine the weather in the path of aircraft 2.

Simultaneously with receive beams 44I-44L providing a ground picture and receive beams 44A-44C providing weather information, other receive beams may provide collision avoidance, or other functions. For example, receive electronics associated with receive array 20 may generate receive beams 44D-44H as monopulse receive beams to locate and track other aircraft, UAVs, birds, bats or other hazards to aircraft 2. In some examples, radar apparatus 10 may execute a dedicated azimuth scan focused around the runway approach region to detect UAVs, especially small UAVS. Upon detecting a possible UAV, radar apparatus 10 may use dedicated modulation waveforms and monopulse angle measurements to track the UAV. Similarly, radar apparatus 10 may use one or more beams in a dedicated scan to search for bird flocks, along with dedicated waveform, range settings and range resolution, while continuing to perform other radar functions described in this disclosure. The high aspect ratio transmit beam and combined mechanical and electronic scanning may allow for faster updates to rapidly changing targets, with reduced emphasis on more constant sub-areas, such as landmarks or other navigation features.

In some examples, radar apparatus 10 may use one or more of receive beams 44D-44H to execute simultaneous predictive wind shear (PWS) analysis of the air mass between aircraft 2 and the approaching airport. The high aspect ratio of transmit beam 42 provides an advantage over a pencil beam radar because radar apparatus 10 scans transmit beam 42 in azimuth without the need to scan in elevation thereby providing more frequent updates. In some examples, radar apparatus 10 may output signals to a synthetic vision system (SVS), which may be valuable in a degraded visibility environment. In addition to aircraft 2, of radar apparatus 10 may be installed in a helicopter, where the output of radar apparatus 10 may be valuable while landing in blowing dust (brown-out) or blowing snow (white-out) conditions. Radar apparatus 10 may interleave all approach phase scans and searches with other radar functions described herein.

The radar system operating according to the techniques of this disclosure may not simultaneously receive return signals that were all transmitted at the same time. For example, the high aspect ratio transmission beam may transmit radar signals for a selected azimuth over the entire elevation simultaneously. Radar signals that reflect from more distant objects arrive at the receive array later than radar signals that reflect from closer objects. During post-processing, radar apparatus 10 may assemble the radar returns from a single chirp, or plurality of chirps, into a coherent picture for a selected azimuth. Radar apparatus 10 may simultaneously perform sum beam processing to determine, for example weather characteristics, as well as monopulse digital beam forming for navigation, collision avoidance or other functions. Some additional functions are described in more detail below in Table 1 below.

FIGS. 7A and 7B depict a top view and isometric view respectively of an example radar apparatus of this disclosure with two radar devices supported by a gimbaled mount. The example of FIGS. 7A and 7B depict radar apparatus 10A, which includes radar devices 11A and 11B and gimbaled mount 15A. Radar devices 11A and 11B correspond to radar device 11, and perform similar functions, as described elsewhere in this disclosure.

Gimbaled mount 15A is similar to gimbaled mount 15 described elsewhere in this disclosure. Example gimbaled mount 15A is configured to support and mechanically rotates radar devices 11A and 11B. Gimbaled mount 15A may include coiled cables connecting power and signals between radar devices 11A and 11B and a radar display and control unit as described above in relation to FIG. 2. Gimbaled mount 15A may rotate radar devices 11A and 11B in both a clockwise and counter-clockwise direction to mechanically extend the angular range of the electronic scan of radar devices 11A and 11B. In other words, gimbaled mount 15A is configured to mechanically scan radar device 11A and radar device 11B in the second illumination direction.

In the example of FIGS. 7A and 7B, the first radar device 11A, the apparatus further comprising, a second radar device, wherein the gimbaled mount 15A is configured to support the second radar device 11B such that radar device 11B is substantially parallel to the first radar device 11A. In other words, the transmit array of radar device 11B faces in a substantially opposite direction from the transmit array of radar device 11A. Similarly, the receive array of radar device 11B faces in a substantially opposite direction from the receive array of radar device 11A.

In other examples, gimbaled mount 15A may support radar device 11A may be at a different angle than parallel with radar device 11B. For example, radar apparatus 10A may be mounted on a marine vessel and gimbaled mount 15A may be configured to support the radar devices such that the combined mechanical and electronic scan range avoids a portion of the superstructure of the marine vessel. Similarly, radar apparatus 10A may be mounted on a helicopter or other vehicle, and may be configured to provide a FOR that is specific for that vehicle. The desired FOR of the vehicle may benefit from radar device 11A supported by gimbaled mount 15A at an angle that is different from substantially parallel to radar device 11B. In other examples, radar apparatus 10A may be mounted at a permanent or semi-permanent fixed location to provide surface based weather radar, tracking of aerial and ground vehicles and other targets. Some examples of fixed locations may include a floating oil rig, government buildings or other structures that may wish to track aerial vehicle movement and weather, and temporary airfields such as for military or exploration purposes, such as in Antarctica.

Though the example radar apparatus 10A depicted in FIGS. 7A and 7B includes more than one radar device 11 that may be rotated between one or more positions, radar apparatus 10A differs from other existing radar systems that may include mechanically movable segments. Existing radar systems with mechanically movable segments may include multiple shafts to rotate radiating faces of antenna elements such that the faces are parallel and coplanar to allow the segments to operate as a single antenna. In contrast, the radar apparatus of this disclosure includes an FMCW transmit antenna with a high aspect ratio transmit beam, as described above in relation to FIGS. 3-6. The receive antenna of the radar apparatus of this disclosure and the transmit antenna rotate together as a single unit to cover the radar field of regard. The radar apparatus of this disclosure may also have advantages in cost, reduced complexity, weight and volume and a wider range of applications when compared to other radar systems.

FIG. 8 is a diagram illustrating the electronically scanned angular range and the mechanically scanned angular range of a radar apparatus with two radar devices in accordance with one or more techniques of this disclosure. Radar apparatus 10A corresponds to radar apparatus 10A as depicted in FIGS. 7A and 7B.

Radar device 11A of outputs FMCW transmit beam 42A which may have electronic angular range 242A. Similarly, radar device 11B of outputs FMCW transmit beam 42B which may have electronic angular range 242B.

Gimbaled mount 15A of radar apparatus 10A (not shown in FIG. 8) may mechanically scan, e.g. rotate, radar devices 11A and 11B both clockwise and counter clockwise. For example, rotating the radar devices clockwise through mechanical angular range 244A may extend the electronic angular range of both radar devices 11A and 11B. Similarly, gimbaled mount 15A may be configured to mechanically rotate the radar devices through mechanical angular range 244B. In this manner, mechanical angular range 244A and 244B extends the electronic angular range 242A and 242B to a combined angular range of 246A. In some examples, the combined angular range 246A, and therefore the FOR of radar apparatus 10A, may be approximately 360 degrees in the second illumination direction.

FIG. 9 is an isometric diagram illustrating an example FMCW radar device 11. In some examples, radar device 11 may include a plurality of printed circuit boards disposed substantially parallel to each other and to the front surface of radar device 11. In some examples, the top layer printed board may be referred to as a patch layer, and may include antenna elements, such as transmit array 18, electronic bandgap (EBG) isolator 22 and receive array 20 and radio frequency components. Transmit array 18, receive array 20 and EBG isolator 22 may be similar or the same as FMCW radar array 12 depicted in FIG. 9.

In the example of FIG. 9, EBG isolator 22 is disposed between the transmit array 18 and receive array 20. In some examples, EBG isolator 22 may be printed array of resonant patch elements having dimensions selected to provide cancellation of electromagnetic radiation from the FMCW transmit beam, such as transmit beam 42 as described elsewhere in this disclosure. EBG isolator 22 may reduce a magnitude of radiation from transmit array 12 to which receive array 20 is indirectly exposed. In other words, EBG isolator 22 may isolate transmit array 18 from receive array 20. The components of radar device 11 may be a single, integrated package. Other examples of radar device 11 may include other types of isolation to minimize interference in the receive array from the transmit array.

In some examples, other printed boards (not shown in FIG. 9) may include digital and frequency synthesizer components including devices, such as field programmable gate arrays (FPGAs), that control scanning and beamforming on receive. Some additional printed circuit boards may include power supply components and additional signal processing components, along with an interface for connecting radar device 11 to other FMCW radar arrays and/or components of the aircraft or device on which radar device 11 is utilized. In some examples, multiple FMCW radar arrays, such as those depicted in FIGS. 7A and 7B, may be connected to common control electronics, which may control operation of the FMCW radar arrays, including, for example, radar pulse synchronization, scanning frequencies, target tracking, or the like.

The printed circuit boards, transmit array 18 and receive array 20 are physically proximate to each other, e.g., located in a single housing 13. For example, the patch layer, heatsink 14 and the cover may be considered a housing. The printed circuit boards, including the patch layer may include the components described below in relation to FIGS. 11-15 for an FMCW radar device and located in single housing. In some examples, radar device 11 may be referred to as a radar device because the transmit electronics, receive electronics, processing circuitry, transmit and receive antenna are all located in a single housing.

FIG. 10 is a diagram illustrating an example FMCW radar antenna array, which may be a component of an FMCW radar device, as depicted in FIG. 9. Radar apparatus 10 may include one or more radar devices 11, as described above. As in the example of FIG. 10, FMCW radar array 12 includes a transmit array 18 and a receive array 20. Like FMCW radar array 12 shown in FIG. 9, the example of FMCW radar array 12 shown in FIG. 3 also includes EBG isolator 22 disposed between the transmit array 18 and a receive array 20.

Transmit array 18 includes a plurality of transmit antenna elements 24. In some examples, transmit array 18 includes two rows (oriented horizontally in the example of FIG. 10) of transmit antenna elements 24, and each row includes twenty-four transmit antenna elements 24. In general, transmit array 18 may include at least one row of transmit antenna elements 24, and each row may include a plurality of antenna elements 24. In some examples, adjacent transmit antenna elements 24 may be spaced apart in the horizontal direction by approximately one-half of the wavelength of the radar transmit beam generated using transmit array 18, e.g. radar transmit beam 42 depicted in FIGS. 3 and 5.

As shown in FIG. 10, receive array 20 may be conceptually divided into quadrants 32 a, 32 b, 32 c, 32 d (collectively, “quadrants 32”). In some examples, receive array 20 is also electrically divided into quadrants 32, e.g., based on the electrical connections of the receive antenna elements 34 to receive electronics that process the signals detected by receive antenna elements 34. Receive signals from each of receive array elements 34 may be used to generate monopulse tracking beams using monopulse beam arithmetic, and dividing receive array 20 into quadrants 32 may facilitate generation of monopulse tracking beams, as described below. In some examples, each of quadrants 32 includes the same number of receive antenna elements 34. For example, in the implementation shown in FIG. 10, each of quadrants 32 includes twelve rows of twelve receive antenna elements 34, for a total of 144 receive antenna elements 34 in each of quadrants 32 (each row is oriented horizontally and each column is oriented vertically in the example of FIG. 10). In other examples, each of quadrants 32 may include 10 rows of receive antenna elements 34, each row including 12 receive antenna elements 34 (for a total of 120 receive antenna elements in each of quadrants 32). Hence, in the illustrated example, receive array 20 includes twenty-four rows of receive antenna elements 34, and each row includes twenty-four receive antenna elements 34. In other examples, receive array 20 may include a different number of receive antenna elements 34. For example, receive array 20 may include more or fewer rows of receive antenna elements 34, and each row may include more or fewer receive antenna elements 34 than depicted in FIG. 3. In general, receive array 20 may include a plurality of rows of receive antenna elements 34 and each row may include a plurality of receive antenna elements 34. In some examples, adjacent receive antenna elements 34 may be spaced apart in the horizontal direction by approximately one-half of the wavelength of the transmit beam generated using transmit array 18.

In some examples, receive antenna elements 34 may be arranged in a square array of receive antenna elements 34 (e.g., the number of rows of receive antenna elements 34 is the same as the number of receive antenna elements 34 in each row). In other examples, receive antenna elements 34 may be arranged in a rectangular array of receive antenna elements 34 (e.g., the number of rows of receive antenna elements 34 is different than the number of receive antenna elements 34 in each row). Additionally or alternatively, in some examples, the number of receive antenna elements 34 in a row of receive array 20 may be different than the number of transmit antenna elements 24 in a row of transmit array 18. Alternatively, or additionally, receive antenna elements 34 may not be arranged in rows and columns as depicted in FIG. 3; instead, receive antenna elements 34 may be arranged in another geometric or non-geometric array.

In some examples, a proposed system is a continuous wave (transmits 100% of the time) at approximately 30 W and uses a total input power for a single radar device 11 of approximately 180 W. The top transmit element rows use transmitter parts, while the remaining receive element rows use receive only parts. This may reduce costs when compared to a pulse radar system by reducing the number of high cost transmit components. In this disclosure, “substantially” and “approximately” mean within measurement and/or manufacturing tolerances.

Radar device 11 controls electronic beam steering by phase shifting the output of transmit array 18. Radar device 11 may adjust azimuth beamwidth and gain by digitally turning off transmit elements 24 at the edge of transmit array 18. Azimuth beamwidth of radar transmit beam 42 corresponds to the second illumination direction 46, as depicted in the example of FIG. 6. In some examples, turning off pairs of transmit elements 24 may also require adjusting the amplitude taper across the array under software control. In some examples, amplitude taper may be provided by a variable gain amplifier (VGA) in each column of the transmit array. Therefore, the beamwidth of transmit beam 42 may be increased for special applications under software control, which will be described in more detail below, for example in Table 1. FMCW radar device transmit array may be used across radar S, C, X, Ku, K or Ka bands.

Transmit electronics associated with a transmit array, such as transmit array 18 in FIG. 10, may be configured to electronically scan, or steer, transmit beam 42 in azimuth (e.g., the second illumination direction 46). In some examples, the transmit electronics may be configured to apply a phase shift, which changes as a function of time, to each transmit antenna element 24 of the plurality of transmit antenna elements. Shifting the phase as a function of time results in transmit beam 42 being electronically scanned in azimuth.

Transmit array 18, in some examples, is a lower gain transmitter aperture that provides wide elevation beamwidth illumination of transmit beam 42. Such an array may appear to potentially impact system sensitivity because of reduced transmitter antenna gain relative to the larger receiver aperture. However, lower transmitter aperture gain has been offset by using a high average transmitter power (e.g. 30 W), increased integration dwell time and simultaneous generation of multiple receive beams within the large transmitter illumination area, as described above in relation to FIG. 6, and elsewhere in this disclosure. A transmitter aperture of this disclosure may provide advantages over a transmitter aperture that matched the same high gain as the receiver, because a high gain transmitter aperture would also create a narrow “flashlight” or pencil beam pattern that would then require an electronic raster scan that would result in slower image update rates.

Therefore, the wide elevation illumination pattern of transmit beam 42 of this disclosure provides simplified prioritization and a high update rate without complex scan scheduling. Transmit beam 42 also has the benefit of instantly mapping the entire vertical extent of convective storms via the simultaneous digitally formed receive beams, as described above. The ability to use refined angular measurement of monopulse beams significantly enhances weather system behavior estimation at longer ranges.

For radar apparatus 10, according to the techniques of this disclosure, all transmit antenna elements of the plurality of transmit antenna elements output FMCW transmit beam 42 at all times during operation of the device. Similarly, all receive antenna elements of the plurality of receive antenna elements receive the plurality of receive signals at all times during the operation of the device. Radar apparatus 10 may include processing circuitry operable to determine one or more characteristics of a plurality of sub-areas of the area illuminated by the FMCW transmit beam, wherein a sub-area of the plurality of sub-areas is within a receive beam of the plurality of receive beams. EBG 22, which is also depicted in FIG. 9, may reduce the interference between transmit array 18 and receive array 20.

In some examples, the receive electronics associated with receive array 20 may be configured to scan, or steer, the plurality of receive beams in the second illumination direction (e.g., azimuth) by applying a phase shift to the signals received from each respective receive antenna element of the plurality of receive antenna elements 34. The receive electronics associated with receive array 20 then may process the phase-shifted signals as described below to produce phase-shifted and summed in-phase (I) and quadrature (Q, e.g. 90 degrees out of phase) values for each row of receive antenna elements 34 in each respective quadrant of quadrants 32. For example, when each row of receive antenna elements 34 in each respective quadrant of quadrants 32 (FIG. 3) includes twelve elements, the receive electronics associated with receive array 20 may be configured to generate a single phase-shifted and summed I value and a single phase-shifted and summed Q value for each row of twelve receive antenna elements 34 each time the receive array 20 is digitally sampled within the receive electronics. This process will be described in more detail below in relation to FIGS. 11-16.

The receive electronics associated with receive array 20 also may be configured generate the plurality of receive beams 44 (as shown in FIGS. 5 and 6) at predetermined first illumination direction (e.g., elevation) positions by applying a complex beam weight to the phase-shifted and summed I and Q values for each row of each of quadrants 32. The phase-shifted and summed I and Q values determined by the receive electronics for a single sample instance may be reused multiple times to generate the corresponding number or receive beams 44 at respective elevation positions. For example, to generate twelve receive beams 44, the receive electronics associated with receive array 20 may apply twelve different complex beam weights to the phase-shifted and summed I and Q values for each row of each of quadrants 32 in twelve separate operations. The I and Q values may be stored in a memory location within radar apparatus 10 and reused multiple times for additional analysis. As one example, one or more data sets of I and Q values stored over a period of time may be used to generate a synthetic aperture radar (SAR) analysis of an area or sub-area in the vicinity of an aircraft.

The plurality of complex beam weights may correspond to the number of receive beams 44. The values for each of the plurality of complex beam weights may be selected to result in the plurality of receive beams being generated at the respective predetermined elevation positions. As shown in FIG. 2, in some examples, the elevation positions of the plurality of receive beams 44 may be selected to substantially fully cover (e.g., fully cover or nearly fully cover) the elevation extent of the predetermined area 48 which is to be illuminated. In some examples, the adjacent ones of the plurality of receive beams 44 may partially overlap in elevation. In this way, the receive electronics associated with receive array 20 may generate a plurality of receive beams 44 at predetermined first illumination direction (e.g., elevation) positions and scan, or steer, the plurality of receive beams 44 in the second illumination direction (e.g., azimuth). Complex beam weights and other processing may be executed by processing circuitry included in the receive electronics or an external processor controlling the receive electronics.

Examples of processing circuitry may include, any one or more of a microprocessor, a controller, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a system on chip (SoC) or equivalent discrete or integrated logic circuitry. A processor may be integrated circuitry, i.e., integrated processing circuitry, and that the integrated processing circuitry may be realized as fixed hardware processing circuitry, programmable processing circuitry and/or a combination of both fixed and programmable processing circuitry.

Additionally, because receive array 20 is conceptually (and, optionally, electrically) divided into quadrants 32, the receive electronics associated with receive array 20 may be configured to generate monopulse tracking beams. This may be used to facilitate tracking of objects by radar apparatus 10. By generating a transmit beam 42 and a plurality of receive beams 44, radar apparatus 10 may perform monopulse analysis for each of receive beams 44, which may facilitate tracking multiple objects within predetermined area 48 (FIG. 6). For example, by digitally combining the I and Q values for the two left quadrants 32 a and 32 c together, digitally combining the I and Q values for the two right quadrants 32 b and 32 d, and determining the difference between I and Q values for the two left quadrants 32 a and 32 c and the I and Q values for the two right quadrants 32 b and 32 d, the receive electronics may create an azimuth monopulse tracking receive beam. Similarly, in some examples, by digitally combining the I and Q values for the top two quadrants 32 a and 32 b, and digitally combining the I and Q values for the bottom two quadrants 32 c and 32 d, and determining the difference between I and Q values for the two top quadrants 32 a and 32 b and the I and Q values for the two bottom quadrants 32 c and 32 d, the receive electronics may create an elevation monopulse tracking receive beam. In some examples, by digitally combining the I and Q values for respective rows of all 4 quadrants 32, a reference sum beam may be created for comparison to the azimuth and elevation monopulse tracking beams. This may permit an accurate phase comparison monopulse to be created for each of receive beams 44. As FMCW radar array 12 is configured to generate a transmit beam 42 and a plurality of receive beams 44, which are scanned within a corresponding predetermined window, this may facilitate tracking of multiple objects by radar apparatus 10. In the example of radar apparatus 10A, depicted in FIGS. 7A-8, radar apparatus 10A may track multiple targets within the approximately 360 degree FOR.

FIG. 11 is a block diagram illustrating an example radar device 11, including associated electronics. Radar device 11 includes an array controller 66, which controls operation of radar device 11. Array controller 66 is operably coupled to a master radio frequency (RF) source and clock 68. Array controller 66 may include one or more processors, including one or more microprocessors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or any other equivalent integrated or discrete logic circuitry, as well as any combinations of such components. As described above, the term “processor” or “processing circuitry” may generally refer to any of the foregoing logic circuitry, alone or in combination with other logic circuitry, or any other equivalent circuitry. In some examples, radar device 11 may include a multi-processor system on chip (MPSoC) processor architecture. Some examples of MPSoC processors provide both massively parallel processing to form multiple receive beams as well as include several reduced instruction set (RISC) or similar processors that can provide post beam forming processing.

Master RF source and clock 68 generates a base RF signal, for example, at a frequency of about 13 GHz for Ku Band and other frequencies for other bands of operation. In some examples, master RF source and clock 68 may include a fractional N synthesizer. Master RF source and clock 68 is operably coupled to a power amplifier 70, which amplifies the base RF signal and outputs the amplified base RF signal to a power divider 64. Power amplifier 70 may amplify the base RF signal to overcome reduction in power as the base RF signal is divided for use in each receive signal and transmit signal. Power divider 64 is operably coupled to a first corporate feed 62, which is associated with a transmit array 18 (FIG. 10) and a second corporate feed 72, which is associated with a receive array 20 (FIG. 10).

Transmit electronics 52 indicates electronics (e.g., power amplifier 54, image reject mixer (IRM) 56, direct digital synthesizer (DDS)-I 58, and DDS-Q 60) conceptually associated with a single transmit antenna element 24, as shown in FIG. 10. In some examples, a DDS may provide 32-bit phase control for accurate beam steering. FIG. 11 illustrates conceptually the components present for a transmit signal being sent to a single transmit antenna element 24. As described with respect to FIGS. 9 and 10, radar device 11 may include a plurality of transmit antenna elements 24. Radar device 11 thus may include a plurality of transmit antenna elements 24 and a plurality of transmit electronics 52 of FIG. 11. As depicted in the example of FIG. 10, the plurality of transmit elements 24 are components of transmit array 18, which in turn is a component of FMCW radar array 12.

In some examples, equivalent functionality for a plurality of transmit signals each being sent to a respective transmit antenna element 24 may be embodied in a single physical component. For example, a single power amplifier may include a plurality of channels, and each channel may be connected to a respective transmit antenna element. Hence, when embodied in a physical product, radar device 11 may include fewer components than those illustrated in FIG. 11, as functions of components may be combined and/or a single component may perform a function described with respect to FIG. 11 for multiple signals being sent to respective transmit antenna elements 24 or receive antenna elements 34.

Similarly, though FIG. 11 depicts the transmit electronics and receive electronics as separate components, in some examples, some functions may be combined into a single component. In some examples transmit electronics and receive electronics may each include processing circuitry, as defined above. In other examples, processing circuitry may be external to transmit electronics, or to the receive electronics and the processing circuitry may control the transmit electronics and receive electronics as external components. In some examples, transmit electronics, or other processing circuitry within radar device 11, may control the motors within gimbaled mount 15 (e.g. as depicted in FIGS. 1, 2, and 7A) to mechanically rotate radar device 11 and extend the electronic scan angular range.

Array controller 66 is operably connected to respective inputs of DDS-I 58 and DDS-Q 60, and instructs DDS-I 58 and DDS-Q 60 to generate a phase shift applied to respective intermediate frequency signals. For example, the intermediate frequency may be on the order of tens of megahertz (MHz), such as about 16 MHz, about 32 MHz, or about 64 MHz. DDS-I 58 and DDS-Q 60 output the phase-shifted signals to IRM 56. IRM 56 receives both the phase-shifted signals from DDS-I 58 and DDS-Q 60 and the base RF signal from first corporate feed 62. IRM 56 combines the base RF signal and the phase shifted intermediate frequency signals from DDS-I 58 and DDS-Q 60 to produce two phase shifted RF signals, which have frequencies of the base RF signal plus and minus the intermediate frequency, respectively. IRM 56 also attenuates one of the two phase-shifted RF signals and outputs the other of the two phase shifted RF signals to the power amplifier 54. Power amplifier 54 amplifies the phase shifted RF signal and outputs the signal to transmit antenna element 24.

As described above, the transmit beam 42 (FIGS. 3, 5-6) generated by transmit antenna element 24 and the other transmit antenna elements 24 in the transmit array 18 (FIG. 10) may be electronically steered by applying a phase shift to the RF signal output by the transmit antenna elements 24, where the phase shift changes as a function of time. As shown in FIG. 4, the phase shift is generated by DDS-I 58 and DDS-Q 60 under control of array controller 66. Array controller 66 may linearly change the phase shift generated by DDS-I 58 and DDS-Q 60 to linearly scan the transmit beam 42 in azimuth (see e.g. FIGS. 3-6). Because the phase shift is generated at intermediate frequency rather than RF, the phase shift operation may be more efficient, and thus may utilize smaller power amplifiers 54 compared to when the phase shift is implemented at RF. DDS-I 58 and DDS-Q 60 also may provide linear frequency modulation. In some examples, the phase shift applied by DDS-I 58 and DDS-Q 60 may be changed at most once per frequency modulation period. In some examples, to cause the transmit beam to dwell at a particular position, DDS-I 58 and DDS-Q may change the phase shift less often, e.g., after multiple frequency modulation periods having a given phase shift.

Turning now to the receive portion of radar device 11, each of receive antenna elements 34 is coupled to an analog receive electronics 74. FIG. 4 illustrates conceptually the components present for a receive signal being received by a single receive antenna element 24. As described with respect to FIG. 3, radar device 11 may include a plurality of receive antenna elements 34. Although a single receive antenna element 34 and a single analog receive electronics 74 are depicted in the example of FIG. 4, in implementation, receive array 20 includes a plurality of receive antenna elements 34 (FIG. 3). Radar device 11 thus may include a plurality of receive antenna elements 34 and a plurality of analog receive electronics 74 or a single analog receive electronics configured to perform the operations described with respect to analog receive electronics 74 on each of a plurality of receive signals.

However, in some examples, equivalent functionality for a plurality of receive signals each being sent to a respective receive antenna element 34 may be embodied in a single physical component. Hence, when embodied in a physical product, radar device 11 may include fewer components than those illustrated in FIG. 11, as functions of components may be combined and/or a single component may perform a function described with respect to FIG. 11 for multiple signals being sent to respective receive antenna elements 34.

Analog receive electronics 74 receives the receive signal from receive antenna elements 34 and also receives a base band signal from a second corporate feed 72. Receive electronics 74 combines the receive signal and the base band signal and outputs the combined signal to I and Q analog to digital converter 76 (A/D converter 76).

FIG. 12 is a block diagram illustrating an example receive antenna element 34 and an example of analog receive electronics 74. Receive antenna element 34 in the example of FIG. 12 is like receive antenna element 34 depicted in FIGS. 9 and 10. In the example illustrated in FIG. 12, analog receive electronics 74 includes a receiver mixer 92, a low noise amplifier (LNA) 94, a demodulator and phase shifter 110, I summing operational amplifier 106, and Q summing operational amplifier 108. For simplicity, this disclosure may refer to demodulator and phase shifter 110 simply as demodulator 110 and may refer to I summing operational amplifier 106 and Q summing operational amplifier 108 as operational amplifiers 106 and 108. Receiver mixer 92 is operably coupled to receive antenna element 34 and receives a signal directly from receive antenna element 34, with no intervening amplifiers. Intervening amplifiers between receive antenna element 34 and receiver mixer 92 may raise the noise floor of the receiver, due to use of FMCW radar and simultaneous transmit and receive. Receiver mixer 92 also receives a signal from second corporate feed 72, which is at the RF frequency (e.g., about 13 GHz). Because the RF signal output by DDS-I 58 and DDS-Q 60 (FIG. 11) is offset from the RF frequency by the intermediate frequency (e.g., 16 MHz, 32 MHz, or 64 MHz), the signal received by receiver mixer 92 from receive antenna element 34 is offset from the RF frequency signal from second corporate feed 72 by the intermediate frequency. Hence, the signal output from receiver mixer 92 has a frequency of the intermediate frequency (e.g., 16 MHz, 32 MHz, or 64 MHz). The FMCW radar systems described herein thus may be heterodyne FMCW radar systems, and the intermediate frequency at which the receive signals are operated on (for at least part of the analog receive electronics 74) are created by heterodyning the signal received from receive antenna element 34 and the RF frequency signal from second corporate feed 72.

Receiver mixer 92 is operably coupled to a LNA 94, which amplifies the intermediate frequency signal received from receiver mixer 92 and outputs the amplified signal to demodulator 110. Demodulator 110 splits the receive signal into I and Q components at block 96 and sends the Q and I signals to mixers 98 and 100, respectively. In the example of FIG. 12, block 96 is a 90-degree hybrid power divider. At first mixer 98, the Q signal is down-converted to base band (e.g., between about 0 MHz and about 2 MHz) by combining the Q signal with a reference clock signal 109, which is derived from the second corporate feed 72 signal and may have a frequency that is an integer multiple of the intermediate frequency. At second mixer 100, the I signal is down-converted to base band (e.g., between about 0 MHz and about 2 MHz) by combining the I signal with reference clock signal 109. First mixer 98 is operatively coupled to a first phase shifter 102, which shifts the phase of the Q signal to steer the receive beams in azimuth. Second mixer 100 is operatively coupled to a second phase shifter 104, which shifts the phase of the I signal to steer the receive beams in azimuth.

As shown in FIG. 12, the phase-shifted I signal and the phase-shifter Q signal are output to respective summing operational amplifiers 106 and 108 (e.g., active filter summing operational amplifiers 106 and 108). Although not shown in FIG. 12 (see FIG. 13), first summing operation amplifier 106 may receive phase-shifted I signals corresponding to all receive antenna elements 34 in a row of one of quadrants 32 (FIGS. 9 and 10). For each row in each of quadrants 32, a first summing operation amplifier 106 sums the I signals for the respective receive antenna elements 34 in the row of the quadrant. Similarly, second summing operation amplifier 108 may receive phase-shifted Q signals corresponding to all receive antenna elements 34 in a row of one of quadrants 32 (FIGS. 9 and 10). For each row in each of quadrants, a second summing operation amplifier 108 sums the Q signals for the respective receive antenna elements 34 in the row of the quadrant. The summing operation amplifiers 106 and 108 output the summed I and Q signals for each row elements 34 of each of quadrants 32 to A/D converter 76. In some examples, in addition to summing the I and Q signals, respectively, summing operation amplifiers 106 and 108 may apply a high pass filter, a low pass filter, or both, to shape the I and Q signals. The gain slopes for the optional high pass filter may be selected based on the application of the FMCW radar system. As examples, for weather detection, the high pass filter slope may be about 20 dB per octave; for ground imaging, the high pass filter slope may be about 30 dB per octave; for airborne target detection, the high pass filter slope may be about 40 dB per octave; or the like. In some examples, the high pass filter compensates for propagation losses in space and the low pass filter acts as an anti-alias filter.

The radar apparatus, according to the techniques of this disclosure may have advantages when compared to existing radar systems. As described above, all electronic steering of the transmitter and receiver apertures occurs at low intermediate frequencies using a combination of digital and analog methods. There are no microwave phase shifters, attenuators or traditional T/R (transmit/receive) modules found in the radar device 11. In some examples, radar device 11 is based on planar construction with printed antenna elements on one side of a standard printed circuit board and active transmit and receive electronics directly integrated with the elements on the back side of the circuit board. As a result, the structure avoids the packaging cost and complexity commonly seen in T/R module base arrays.

Transmitter beam steering is accomplished via the word phase shift structure of a Direct Digital Synthesizer at each of the transmitter elements. Receiver aperture beam steering is accomplished via digital complex weight values applied in the receiver MPSoC digital beam former. In this manner, digital samples collected just one set of receiver electronics can be reused numerous times in digital processing hardware to create as many “digital beams” as desired with the lowest possible cost, size, and weight and power dissipation. There is no complex RF beamforming network and the number of possible receive beams is technically limited only by processing power.

FIG. 13 illustrates another example block diagram of a portion of the analog receive electronics for a row of a receive array 20 (FIGS. 9-10). As shown in FIG. 13, a row of receive array 20, with quadrants 32 a-32 d (FIG. 10) includes a plurality of receive antenna elements 34 a-341 (collectively, “receive antenna elements 34”). Although twelve receive antenna elements 34 are illustrated in FIG. 13, in other examples, a row of a receive array 20 may include more or fewer receive antenna elements 34. In general, a row of receive array 20 may include a plurality of receive antenna elements.

Each of receive antenna elements 34 is operably connected to a respective receiver mixer of the plurality of receiver mixers 92 a-921 (collectively, “receiver mixers 92”). As described with respect to FIG. 12, each of receiver mixers 92 may also receive an RF signal from second corporate feed 72, although this is not shown in FIG. 13. Although twelve receiver mixers 92 are illustrated in FIG. 13, in other examples, analog receive electronics 74 may include more or fewer receiver mixers 92. In some examples, analog receive electronics 74 may include a respective receiver mixer 92 for each receive antenna element of receive antenna elements 34. Each of receiver mixers 92 is operably connected to a respective channel of one of LNAs 94 a-94 c (collectively, “LNAs 94”). For example, receive electronics 74 may be a quad (4×) device with four sets of elements. In other words, a quad device may include four LNAs 94, four demodulators 110 and sixteen receiver mixers 92.

LNAs 94 amplify the receive signal and are operably coupled to a respective channel of one of demodulators 110 a-110 c (collectively, “demodulators 110”). Similar to FIG. 5, demodulators 110 in FIG. 13 may also include phase shift function. Although three LNAs 94 each with four channels are illustrated in FIG. 13, in other examples, each of LNAs 94 may include more or fewer channels, and there may be more or fewer LNAs 94 for a row of receive antenna elements 34. Similarly, although three demodulators 110 each with four channels are illustrated in FIG. 13, in other examples, each of demodulators 110 may include more or fewer channels, and there may be more or fewer demodulators 110 for a row of receive antenna elements 34. As described above in relation to FIG. 5, quadrature mixers 110 may down-convert the receive signal to base band, separate the receive signal into I and Q components, apply a phase shift to the I and Q components, and output the phase-shifted I and Q signals. An example of demodulator 110 may include the AD8339 demodulator and phase shifter from Analog Devices.

As shown in FIG. 13, quadrature mixers 110 may output the phase-shifted I signals to a first summing operational amplifier 106, which sums all the phase-shifted I signals to yield a summed I signal for the row. Similarly, quadrature mixers 110 may output the phase-shifted Q signals to a second summing operational amplifier 108, which sums all the phase-shifted Q signals to yield a summed Q signal for the row. First summing operation amplifier 106 outputs the summed I signal to/A/D converter 76, and second summing operation amplifier 108 outputs the summed Q signal to analog-to-digital converter 76. Receive array 20 may include components that perform substantially similar functions for each row of receive antenna elements 34 in each quadrant 32 of the receive array 20.

Referring to FIG. 11, analog-to-digital converter 76 outputs the digital data streams for the summed I and Q values to a digital receive electronics 78. Digital receive electronics 78 may be configured to generate a plurality of receive beams from the digital data streams for the summed I and Q values received from A/D converter 76.

Radar apparatus 10 may control the receive beam width by electronically turning off or ignoring the input from any receive antenna element 34 in a row. Though a receive antenna element, such as receive antenna element 34 a, may still receive the return receive signal, radar apparatus 10 may not include the output from receive antenna element 34 a during signal processing, in some examples. Controlling the beam width may provide guard channel to reject azimuth sidelobes and reject ground clutter detected in these sidelobes.

In some examples, each row is uniformly illuminated and produces first sidelobes, which may be compensated initially, such as by applying the Taylor Taper to the transmit array for low sidelobe illumination. Each receive row may be amplitude weighted to achieve any desired elevation beamwidth greater than the lowest possible beamwidth by applying appropriate complex weights to the row outputs. This may provide a guard channel to reject elevation sidelobes and reject ground clutter detected in these sidelobes. This guard channel may be computed in parallel with the full gain and minimum beamwidth of the full receive array. In some examples, the receive array may be steered in elevation using complex weights, which may be applied in the MPSoC processor. The MPSoC processor may divide the receive array into two or more sub-apertures that may be used to provide elevation monopulse angle measurement or other functions.

FIGS. 14 and 15 illustrate example aspects of an example digital receive electronics 78 as described above in relation to FIG. 11. FIG. 14 is a functional block diagram illustrating example functions of A/D converters 76 a-761 (collectively A/D converters 76) and portions of a digital receive electronics 78 for a quadrant 32 of a receive array 20, as depicted in FIGS. 9 and 10. FIG. 15 is a functional block diagram illustrating example functions for producing a plurality of receive beams from signals received from a respective receive electronics 74 for each quadrant 32 of a receive array 20.

As shown in FIG. 14, a plurality of analog receive electronics 74 a-741 each outputs a respective summed I signal and a respective summed Q signal to a respective one of A/D converters 76. In the example of FIG. 14, twelve analog receive electronics 74 and twelve A/D converters 76 are depicted. However, in other examples, a quadrant 32 may include more or fewer rows of receive antenna elements 34, and may accordingly include more or fewer analog receive electronics 74. In some examples, a receive array 20 includes an analog receive electronics 74 for each row of each of quadrants 32. Similarly, a receive array 20 may include more or fewer A/D converters, and the number of analog-to-digital converters for a quadrant 32 may be the same as or different than the number of rows of receive antenna elements 34 in the quadrant 32.

Each of the A/D 76 converts an analog summed I signal to a digital I data stream and an analog summed Q signal to a digital Q data stream. Digital receive electronics 78 then may apply a complex beam weight 112 to the digital I data streams and digital Q data streams and sum 114 the results to generate a weighted I data stream and a weighted Q data stream 116 for the quadrant. The complex beam weight may be selected to result in weighted I and Q data streams 116 being generated that can be used by digital receive electronics 78 to generate a receive beam at a predetermined elevation position, as described with reference to FIGS. 5 and 6. The number of complex beam weights 112 may be the same as the number of receive beam positions.

In some examples, digital receive electronics 78 may reuse the digital I data streams and the digital Q data streams by applying a different complex beam weight 112 to the digital I signals and the digital Q data streams to generate each of a plurality of weighted I and Q data streams 116. Each of the plurality of complex beam weights 112 may be selected to result in a respective weighted I and Q data stream being generated that is used to form a receive beam at a predetermined elevation position. The complex beam weights 112 may apply both amplitude taper and elevation beam steering to the digital I data streams and the digital Q data streams. The result of the applying the complex beam weights 112 is a plurality of weighted I data streams and a plurality of weighted Q data streams 116, one weighted I data stream and one weighted Q data stream 116 for each of the complex beam weights 112. Hence, each of quadrants 32 forms a plurality of weighted I data streams and a plurality of weighted Q data streams 116, one data stream in I and Q for each of the receive beam positions. To facilitate formation of the monopulse tracking beams, the number of weighted I data streams and weighted Q data streams 116 output by each of quadrants 32 may be the same.

As shown in FIG. 15, the output weighted I data streams and weighted Q data streams 116 are used by the digital receive electronics 78 (FIG. 11) to form monopulse tracking beams at each receive beam position (see e.g. FIG. 5). As shown in FIG. 15, each of quadrants 32 outputs a respective plurality of weighted I data streams and plurality of weighted Q data streams 116 a-116 d (collectively, “plurality of weighted I data streams and plurality of weighted Q data streams 116”). The number of weighted I data streams and the number of weighted Q data streams 116 for each of quadrants 32 corresponds to the number of receive beam positions.

Digital receive electronics 78 sums the first weighted I data stream from the first quadrant 32 a and the first weighted I data stream from second quadrant 32 b (the top two quadrants) to form a first top I data stream. Each of the first weighted I data streams may correspond to the same (a first) receive beam position. Similarly, digital receive electronics 78 sums the first weighted Q data stream from the first quadrant 32 a and the first weighted Q data stream from second quadrant 32 b to form a first top Q data stream. Each of the first weighted Q data streams may correspond to the same (the first) receive beam position. Digital receive electronics 78 repeats this summation for each of the plurality of weighted I data streams and each of plurality of weighted Q data streams 116 a from first quadrant 32 a and each of the plurality of weighted I data streams and each of plurality of weighted Q data streams 116 b from second quadrant 32 b. This results in a plurality of top I data streams and a plurality of top Q data streams 124, with the number of top I data streams and the number of top Q data streams 124 corresponding to the number of receive beam positions. As described in relation to FIG. 13, some examples may include more or fewer data streams than the three depicted in FIG. 15.

Similarly, digital receive electronics 78 sums the first weighted I data stream from the first quadrant 32 a and the first weighted I data stream from third quadrant 32 c (the left two quadrants) to form a first left I data stream. Each of the first weighted I data streams may correspond to the same (a first) receive beam position. Similarly, digital receive electronics 78 sums the first weighted Q data stream from the first quadrant 32 a and the first weighted Q data stream from third quadrant 32 c to form a first left Q data stream. Each of the first weighted Q data streams may correspond to the same (the first) receive beam position. Digital receive electronics 78 repeats this summation for each of the plurality of weighted I data streams and each of plurality of weighted Q data streams 116 a from first quadrant 32 a and each of the plurality of weighted I data streams and each of plurality of weighted Q data streams 116 c from third quadrant 32 c. This results in a plurality of left I data streams and a plurality of left Q data streams 122, with the number of left I data streams and the number of left Q data streams 122 corresponding to the number of receive beam positions.

Digital receive electronics 78 performs this process for each for each of the plurality of weighted I data streams and each of plurality of weighted Q data streams 116 c from third quadrant 32 c and each of the plurality of weighted I data streams and each of plurality of weighted Q data streams 116 d from fourth quadrant 32 d to form a plurality of bottom I data streams and a plurality of bottom Q data streams 128. Digital receive electronics 78 also performs this process for each for each of the plurality of weighted I data streams and each of plurality of weighted Q data streams 116 b from second quadrant 32 b and each of the plurality of weighted I data streams and each of plurality of weighted Q data streams 116 d from fourth quadrant 32 d to form a plurality of right I data streams and a plurality of right Q data streams 126.

Digital receive electronics 78 performs monopulse arithmetic 130 using the plurality of I and Q data streams 122, 124, 126, and 128 to form a monopulse sum beam, a monopulse azimuth delta beam, and a monopulse elevation delta beam for each of the receive beam positions. For example, by summing each of the first I data streams and each of the first Q data streams, digital receive electronics 78 may form a monopulse sum beam for the first receive beam position. By subtracting the first right I and Q data streams from the first left I and Q data streams, digital receive electronics 78 may form a monopulse azimuth delta beam for the first receive beam position. By subtracting the first bottom I and Q data streams from the first top I and Q data streams, digital receive electronics 78 may form a monopulse elevation delta beam for the first receive beam position. Digital receive electronics 78 may perform similar calculations to form a monopulse sum beam, a monopulse azimuth delta beam, and a monopulse elevation delta beam at each receive beam position using respective ones of the plurality of left, top, right, and bottom I and Q data streams 122, 124, 126, and 128.

After digital receive electronics 78 has formed each of the plurality of monopulse sum beams, each of the plurality of monopulse azimuth delta beams, and each of the plurality of monopulse elevation delta beams (one of each beam for each receive beam position), digital receive electronics 78 applies a Fast Fourier Transform (FFT) to each respective beam to transform the beam from the frequency domain to the range domain. In some examples, the FFT generates 2048 FFT bins, each bin corresponding to a range bin of about 24 feet (about 8 meters). In some examples, an FMCW radar device, in accordance with the techniques of this disclosure may form up to 36 simultaneous receive beams, where some receive beams are monopulse beams. The monopulse beams may allow monopulse beam tracking of objects in the predetermined area 48 (FIG. 6).

In some examples, the receive electronics 80 (FIG. 11), which may include analog receive electronics 74, A/D 76, and digital receive electronics 78, may steer the receive beams in azimuth by applying a phase shift to the receive signals from each of receive antenna elements 34 using analog receive electronics 74. Analog receive electronics 74 may sequentially apply different phase shifts to the receive signals from each of receive antenna elements 34 to steer the receive beams in azimuth. At each azimuth position, digital receive electronics 78 may generate the plurality of receive beams (including monopulse sum, azimuth delta, and elevation delta beams at each receive beam position). In some examples, the elevation position of each of the receive beams may not change as the receive beams are scanned in azimuth. In other words, in some examples, digital receive electronics 78 applies the same set of complex beam weights to the I digital steams and Q digital streams at least of the azimuth positions. The output of the digital receive electronics 78 may be used by the radar system for target selection and tracking.

By performing most manipulations of the receive signals at baseband frequencies rather than RF and summing the I and Q signals for each row in a quadrant before digitally forming the plurality of receive beams, component count may be reduced and power efficiency may be increased. Additionally or alternatively, less complex and/or inefficient phase shifters may be used compared to when phase shifting is performed at RF. In some examples, this may reduce or substantially eliminate receiver losses and may not utilize receiver amplifiers with their attendant power dissipation, circuit board space, and cost. In some examples, receive array 20 does include a respective low noise amplifier (LNA) between a respective receive antenna element 34 and a respective receiver mixer 92. If present between the respective receive antenna element 34 and the respective receiver mixer 92, the LNA may reduce transmit array-to-receive array isolation and the LNA may be saturated by nearby transmit array leakage power. By avoiding LNAs at every receive antenna element, the parts count of receive array 20 may be reduced, which may improve cost, power dissipation, and/or reliability of receive array 20. Additionally, the formation of multiple receive beams and monopulse tracking beams at each receive beam position may facilitate object tracking by the radar system.

In operation, the receive signals from each element and row may be stored as a data set and reused for several different modes. In other words, the same receive signal at a particular row or element received at first time may be stored as a data set. The stored data set may be combined with other data sets from other rows received at the same or a different time to perform a variety of different analyses in a variety of modes. All modes may be used individually or in combination with any other mode or set of modes according to flight phase of aircraft 2, or the operation of another type of vehicle. Modes may be interleaved to provide the greatest benefit to the vehicle operator. Modes may be used with “Chaotic Beam Steering,” e.g. non-linear or random scans as required to achieve the functions of each mode. Some example modes as well as features and advantages of modes are listed in the table below.

TABLE 1 Examples Radar Modes Mode Example features Standard Weather Radar Mode 3 Seconds, >90 Degrees AZ Weather Detection to 320 NMi Turbulence Detection to >=40 Nmi Lightning Detection Inference Terrain Avoidance and Uses multiple beams to track Terrain Following Mode terrain level Helicopter Application Provide Ground Collision Warning in GPS Denied Conditions or prevent collisions with new obstacles not in the EGPWS database Can alert need to update the database Enhanced Weather Mode Improved HAIC Detection Potential Volcanic Eruption and Ash Detection Enhanced Storm Cell Detail and Cell growth or decay Navigation Mode Runway Detection, Runway Approach Lights, Runway Intrusion detection Runway alignment, glide slope measurement enhanced with Monopulse Angle measurement Taxi Collision Avoidance Mode Taxi in CAT III conditions to avoid all moving or stationary obstacles UAV Collision Avoidance Mode On approach or take off Bird Flock Detection Mode On approach or take off Approach Mode Runway detection Intrusion Detection PWS Detection Weather Detection Enhanced PWS Mode Sidelobe Clutter Rejection via Guard Beam False PWS alert prevention without runway database Electronic Beam Pointing Accelerometers on DAPA provide Stabilization motion feedback to processor Synthetic Vision Mode Fine Range resolution images enhanced with monopulse angle measurement Waveform Flexibility DAPA provides any desired sequence of Linear FM, Fixed Frequency CW or Stepped Frequency CW DAPA provides any combination of Linear FM slopes (+/−/0) DAPA allows beam pointing to be updated every waveform or after multiple waveforms have been transmitted FMCW Mode Allows fine range resolution and short range detection capability Allows the potential for SVS enhancements

FIG. 16 is a flow diagram illustrating an example operation of a multi-function electronically and mechanically steered weather radar. The steps depicted in FIG. 11 will be described in relation to FIGS. 1, 3 and 6, unless otherwise noted.

The multi-function electronically steered weather radar, such as radar device 11, may electronically steer a transmit beam 42 by controlling a transmit array 18, which includes a plurality of transmit antenna elements 24 to output an FMCW transmit beam (200). The plurality of transmit antenna elements 24 may be arranged such that a number of transmit antenna elements in a first transmit array dimension is greater than a number of transmit antenna elements in a second transmit array dimension substantially perpendicular to the first transmit array dimension. The FMCW transmit beam 42 illuminates an area with a greater extent in a first illumination direction 45 than in a second illumination direction 46 substantially perpendicular to the first illumination direction. The transmit array may be controlled, for example, by array controller 66.

Array controller 66, or some other component of radar device 11 may control the transmit electronics to electronically scan the FMCW transmit beam 42 in the second illumination direction 46 (202), depicted in FIGS. 3 and 6. Beam steering may be controlled by a phase shift implemented by I and Q DDS pairs at each array column of two transmit antenna elements 24.

Radar device 11 may control receive electronics 80 to receive a plurality of receive signals from receive array 20 comprising a plurality of receive antenna elements 34 (204). Receive antenna elements 34 may be arranged in quadrants 32 (see FIGS. 10 and 15).

Radar device 11, or a radar display and control unit as described above in relation to FIG. 2, may control gimbaled mount 15 to mechanically scan/rotate transmit array 18 and receive array 20 of radar device 11 from a first position to a second position (205). Gimbaled mount 15 may receive a position signal from radar device 11, the radar control and display unit, or some other component of a radar system of which radar apparatus 10 is a part. In response to the position signal, gimbaled mount 15 may aim radar device 11 to the predetermined position.

As described above, rotating radar device 11 in the second illumination direction extends the angular range of FMCW transmit beam 42. Similarly, as described above in relation to FIGS. 7A-8, rotating multiple radar devices supported on a single gimbaled mount 15A extends the angular range of the radar transmit beams 42A-42B of each radar device. Gimbaled mount 15, or 15A, may pause at a predetermined position of a plurality of predetermined position while radar device 11 executes an electronic scan of FMCW transmit beam 42, as described above in relation to FIG. 4. In some examples, radar device 11 may execute an electronic scan of FMCW transmit beam 42 over the entire electronic angular range 242 at a given predetermined mechanical position. In other examples, radar device 11 may cause radar transmit beam 42 to dwell on a portion of the FOR to gather additional information on that portion. In some examples, radar device 11 may change the parameters of FMCW transmit beam 42 as described above in relation to FIG. 6, such as to confirm HAIC detection.

Radar device 11 may further control receive electronics 80 to electronically generate and scan in the second illumination direction 46 a plurality of receive beams 44 such that the scanning of each receive beam 44 is coordinated with the scanning of the FMCW transmit beam 42. In this manner, the plurality of receive beams 44 are within the area illuminated by the FMCW transmit beam 42 throughout the scanning of the FMCW transmit beam 42 and the plurality of receive beams 44 in the second illumination direction 46 (206). Receive electronics 80 associated with receive array 20 may generate the beams by processing the phase-shifted signals as described above to produce phase-shifted and summed I and Q values for each row of receive antenna elements 34 in each respective quadrant of quadrants 32.

Processing circuitry within radar device 11, such as an MPSoC described above, may determine one or more characteristics of a sub-area of a plurality of sub-areas of the area illuminated by the FMCW transmit beam 42 (208). The sub-area of the plurality of sub-areas is within a receive beam, e.g. 44D, of the plurality of receive beams 44. Some examples of characteristics may include collision avoidance or navigation characteristics such as range, bearing, speed, tracking and size characteristics of an object such as a UAV or a series of runway lights. Other examples may include reflectivity characteristics of weather within the field of regard of radar device 11.

In one or more examples, the functions described above may be implemented in hardware, software, firmware, or any combination thereof. For example, the various components of FIG. 4, such as receiver electronics 80 and controller and master RF clock 68 may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted over, as one or more instructions or code, a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include computer-readable storage media, which corresponds to a tangible medium such as data storage media, or communication media including any medium that facilitates transfer of a computer program from one place to another, e.g., according to a communication protocol. In this manner, computer-readable media generally may correspond to (1) tangible computer-readable storage media which is non-transitory or (2) a communication medium such as a signal or carrier wave. Data storage media may be any available media that can be accessed by one or more computers or one or more processors to retrieve instructions, code and/or data structures for implementation of the techniques described in this disclosure. A computer program product may include a computer-readable medium.

By way of example, and not limitation, such computer-readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage, or other magnetic storage devices, flash memory, or any other medium described further below that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if instructions are transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. It should be understood, however, that computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other transient media, but are instead directed to non-transient, tangible storage media. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

Instructions may be executed by one or more processors, such as one or more DSPs, general purpose microprocessors, ASICs, FPGAs, or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor,” as used herein, such as array controller 66, may refer to any of the foregoing structure or any other structure suitable for implementation of the techniques described herein. In addition, in some aspects, the functionality described herein may be provided within dedicated hardware and/or software modules configured for encoding and decoding, or incorporated in a combined codec. Also, the techniques could be fully implemented in one or more circuits or logic elements.

The techniques of this disclosure may be implemented in a wide variety of devices or apparatuses, including a wireless handset, an integrated circuit (IC) or a set of ICs (e.g., a chip set). Various components, modules, or units are described in this disclosure to emphasize functional aspects of devices configured to perform the disclosed techniques, but do not necessarily require realization by different hardware units. Rather, as described above, various units may be combined in a hardware unit or provided by a collection of interoperative hardware units, including one or more processors as described above, in conjunction with suitable software and/or firmware.

The techniques described in this disclosure may also be embodied or encoded in an article of manufacture including a computer-readable storage medium encoded with instructions. Instructions embedded or encoded in an article of manufacture including a computer-readable storage medium encoded, may cause one or more programmable processors, or other processors, to implement one or more of the techniques described herein, such as when instructions included or encoded in the computer-readable storage medium are executed by the one or more processors. Computer readable storage media may include random access memory (RAM), read only memory (ROM), programmable read only memory (PROM), erasable programmable read only memory (EPROM), electronically erasable programmable read only memory (EEPROM), flash memory, a hard disk, a compact disc ROM (CD-ROM), a floppy disk, a cassette, magnetic media, optical media, or other computer readable media. In some examples, an article of manufacture may include one or more computer-readable storage media.

In some examples, a computer-readable storage medium may include a non-transitory medium. The term “non-transitory” may indicate that the storage medium is not embodied in a carrier wave or a propagated signal. In certain examples, a non-transitory storage medium may store data that can, over time, change (e.g., in RAM or cache).

Various examples of the disclosure have been described. These and other examples are within the scope of the following claims. 

1. A radio frequency (RF) apparatus, the apparatus comprising: an RF device configured to transmit and receive RF signals, the RF device comprising: a transmit array comprising a plurality of transmit antenna elements, wherein the transmit array is configured to output an RF transmit beam that illuminates an area with a greater extent in a first illumination direction than in a second illumination direction, wherein the second illumination direction is substantially perpendicular to the first illumination direction; transmit electronics operable to electronically scan the RF transmit beam in the second illumination direction; a receive array comprising a plurality of RF receive antenna elements; and receive electronics operable to receive a plurality of RF receive signals; and a gimbaled mount, wherein the gimbaled mount is configured to: support the RF device; receive a position signal; aim the RF device in response to the position signal.
 2. The apparatus of claim 1, wherein the gimbaled mount is configured to mechanically rotate the RF device in the second illumination direction.
 3. The apparatus of claim 1, wherein the gimbaled mount comprises a mounting portion, the apparatus further comprising a coiled cable, the coiled cable comprising a plurality of conductors, wherein the coiled cable is configured to electrically connect the RF device to the mounting portion.
 4. The apparatus of claim 3, wherein the coiled cable further carries the position signal that causes the gimbaled mount to aim the RF device by rotating in the second illumination direction.
 5. The apparatus of claim 1, wherein the RF device is configured to electronically scan the RF transmit beam in the second illumination direction when the gimbaled mount is mechanically stationary at a predetermined position of a plurality of predetermined positions.
 6. The apparatus of claim 1, wherein the RF device is a first RF device, the apparatus further comprising, a second RF device, wherein the gimbaled mount is further configured to support the second RF device, wherein the second RF device: is substantially parallel to the first RF device, a transmit array of the second RF device faces in a substantially opposite direction from the transmit array of the first RF device, a receive array of the second RF device faces in a substantially opposite direction from the receive array of the first RF device.
 7. The apparatus of claim 6, wherein the gimbaled mount is configured to mechanically scan the first RF device and the second RF device in the second illumination direction.
 8. The apparatus of claim 7, wherein a field of regard (FOR) of the apparatus is substantially 360 degrees in the second illumination direction, wherein the field of regard of the apparatus comprises a first predetermined area illuminated by the first RF device and a second predetermined area illuminated by the second RF device.
 9. The apparatus of claim 1 wherein: the second illumination direction is an azimuth in a horizontal direction, the area illuminated by the RF transmit beam is a first area at a first azimuth relative to the transmit array, a second area illuminated by the RF transmit beam is at a second azimuth relative to the transmit array.
 10. The apparatus of claim 1, wherein the receive electronics is further operable to: generate, based on the plurality of RF receive signals, a plurality of receive beams within the area illuminated by the RF transmit beam and electronically scan each receive beam of the plurality of receive beams in the second illumination direction such that the scanning of each receive beam is coordinated with the scanning of the RF transmit beam in the second illumination direction.
 11. The apparatus of claim 1, wherein the RF transmit beam and the RF receive signals are in the microwave frequency range.
 12. The apparatus of claim 1, wherein the aspect ratio between the first illumination direction and the second illumination direction is at least ten-to-one.
 13. The apparatus of claim 1 wherein a horizontal beamwidth of the RF transmit beam is less than eight degrees in azimuth and a vertical beamwidth of the RF transmit beam is at least 60 degrees in elevation.
 14. A method comprising: controlling, by processing circuitry, a transmit array comprising a plurality of transmit antenna elements to output a frequency modulated continuous wave (FMCW) transmit beam, wherein the plurality of transmit antenna elements are arranged such that a number of transmit antenna elements in a first transmit array dimension is greater than a number of transmit antenna elements in a second transmit array dimension substantially perpendicular to the first transmit array dimension, and wherein the FMCW transmit beam illuminates an area with a greater extent in a first illumination direction than in a second illumination direction substantially perpendicular to the first illumination direction; controlling, by processing circuitry, transmit electronics to electronically scan the FMCW transmit beam in the second illumination direction; controlling, by processing circuitry, receive electronics to receive a plurality of receive signals from a receive array comprising a plurality of receive antenna elements; and controlling, by processing circuitry, a gimbaled mount to mechanically rotate the transmit array and the receive array from a first position to a second position in the second illumination direction; controlling, by processing circuitry, the receive electronics to electronically generate and scan in the second illumination direction a plurality of receive beams such that the scanning of each receive beam is coordinated with the scanning of the FMCW transmit beam so that the plurality of receive beams are within the area illuminated by the FMCW transmit beam throughout the scanning of the FMCW transmit beam and the plurality of receive beams in the second illumination direction; and determining, by processing circuitry, one or more characteristics of a sub-area of a plurality of sub-areas of the area illuminated by the FMCW transmit beam, wherein the sub-area of the plurality of sub-areas is within a receive beam of the plurality of receive beams.
 15. The method of claim 14, wherein: the receive array is electrically divided into quadrants, each quadrant comprising a plurality of receive antenna elements arranged in a plurality of rows, each row of the plurality of rows comprising a plurality of receive antenna elements; the method comprises: controlling, by processing circuitry, the receive electronics to digitally sample a first respective row of the plurality of rows of the plurality of receive elements separately from the remaining respective rows of the plurality of rows; controlling, by processing circuitry, the receive electronics to store a first data set comprising digital samples of the first respective row at a first time; controlling, by processing circuitry, the receive electronics to combine the first data set with at least a second data set to form a monopulse receive beam, wherein the second data set comprises digital samples of a second respective row at the first time; control the receive electronics to determine one or more characteristics of a sub-area within the monopulse receive beam. 